Under the Surface of Classic Sonic @classicsoniccode.bsky.social · Apr 17 If you mean like this, then, no. The clip is possible, because floor collision is ignored when he's moving upwards, and the wall sensor is too high up in this instance to trigger a wall collision. He also isn't deep enough into the platform for the depth check to cause floor collision to be ignored.
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However, in Lava Reef Zone, there's a set of fully solid stairs that Sonic can clip into in the same fashion, but because he'll get stopped by the next step, he'll start moving down, causing the depth check to take effect, allowing him to fall right through. (GIF courtesy of Flamewing)